raw-mini added

cob_hardware_config/robots/raw-mini/config/base_laser_filter.yaml

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+scan_filter_chain:
+  - name: range
+    type: LaserScanRangeFilter
+    params:
+      use_message_range_limits: false
+      upper_threshold: 10.0
+      upper_replacement_value: 10.0

cob_hardware_config/robots/raw-mini/config/collision_velocity_filter_params.yaml

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+#where to look for costmap parameters
+costmap_parameter_source: "/local_costmap_node/costmap"
+
+#frequency at which the get_footprint service should be called
+footprint_update_frequency: 0.1
+
+#Parameters specifying slow down behaviour
+pot_ctrl_vmax: 0.6 #default: 0.6
+pot_ctrl_vtheta_max: 0.8 #default: 0.8
+pot_ctrl_kv: 2.5 #damping default: 1.0
+pot_ctrl_kp: 3.0 #stiffness default: 2.0
+pot_ctrl_virt_mass: 0.5 #default: 0.8
+max_acceleration: [0.3, 0.3, 0.4]
+
+#Parameters specifying collision velocity filter
+influence_radius: 2.0 #[m] distance from robot_center
+obstacle_damping_dist: 0.3 # used as slow-down dist
+stop_threshold: 0.05 #[m]
+use_circumscribed_threshold: 0.2 #[rad/s] scan for obstacles in circumscribed radius of robot even when tube filter is enabled during fast rotations

cob_hardware_config/robots/raw-mini/config/footprint_observer_params.yaml

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+# node from which initial footprint is read
+footprint_source: /local_costmap_node/costmap
+
+#
+robot_base_frame: /base_link
+# wait until tf from robot_base_frame to farthest_frame is available
+farthest_frame: /base_link
+# frames to check for footprint adjustment
+#frames_to_check: /arm_forearm_link /arm_wrist_1_link /arm_wrist_2_link /arm_wrist_3_link /arm_ee_link
+epsilon: 0.01
+

cob_hardware_config/robots/raw-mini/config/joint_state_publisher.yaml

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+rate: 100 #Hz
+source_list: [/base/joint_states]

cob_hardware_config/robots/raw-mini/config/joy.yaml

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+dev: /dev/input/js0
+deadzone: 0.12

cob_hardware_config/robots/raw-mini/config/local_costmap_params.yaml

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+# global information
+global_frame: /base_link
+robot_base_frame: /base_footprint
+update_frequency: 5.0
+publish_frequency: 5.0
+
+# local map settings
+static_map: false
+rolling_window: true
+width: 5.0
+height: 5.0
+resolution: 0.07
+
+# footprint and range
+footprint: [[0.165,0.115],[-0.165,0.115],[-0.165,-0.115],[0.165,-0.115]] #[m]
+footprint_padding: 0.02 #[m]
+
+#layers
+plugins:
+
+# The obstacle layer tracks the obstacles as read by the sensor data.  The ObstacleCostmapPlugin marks and
+# raytraces obstacles in two dimensions, while the VoxelCostmapPlugin does so in three dimensions.
+- {name: obstacle_layer,  type: "costmap_2d::VoxelLayer"}
+
+obstacle_layer:
+
+  # Definition of the sensors/observation sources
+  observation_sources: laser_scan
+
+  # Parameters of the source: laser_scan_front
+  laser_scan_front:
+    sensor_frame: laser_link # The frame of the origin of the sensor, default: ""
+    topic: /scan       # The topic on which sensor data comes in for this source, default: source_name
+    data_type: LaserScan                # The data type associated with the topic, default: "PointCloud"
+    marking: true                       # Whether or not this observation is used to mark obstacles, default: true
+    clearing: true                      # Whether or not this observation is used to clear out freespace, default: false
+
+
+  # The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters
+  obstacle_range: 5.0
+
+  # The default range in meters at which to raytrace out obstacles from the map using sensor data
+  raytrace_range: 5.0
+
+  # What map type to use. "voxel" or "costmap" are the supported types, with the difference between them being a 3D-view of the world vs. a 2D-view of the world
+  map_type: costmap
+
+  # The maximum height in meters of a sensor reading considered valid.
+  max_obstacle_height: 2.0

cob_hardware_config/robots/raw-mini/config/scan_unifier_config.yaml

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+#Scan_unifier_config-parameters
+
+input_scans: ["/scan"]

cob_hardware_config/robots/raw-mini/config/teleop.yaml

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+#raw-mini
+##########
+# common params
+run_factor: 2.0
+apply_ramp: false
+joy_num_buttons: 12
+joy_num_axes: 6
+joy_num_modes: 1
+
+# axes
+axis_vx: 4
+axis_vy: 3
+axis_vz: 5
+axis_roll: 4
+axis_pitch: 3
+axis_yaw: 0
+
+# buttons
+deadman_button: 5
+safety_button: 6
+init_button: 9
+
+#mode1: Base
+run_button: 7
+
+components: {
+  base: {
+    twist_topic_name: '/base/twist_mux/command_teleop_joy',
+    twist_safety_topic_name: '/base/twist_mux/command_teleop_joy',
+    twist_max_velocity: [0.5, 0.5, 0.5],
+    twist_max_acc: [0.5, 0.5, 0.7]
+  }
+}

cob_hardware_config/robots/raw-mini/config/twist_mux_locks.yaml

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+# Locks to stop the twist inputs.
+# For each lock:
+# - topic   : input topic that provides the lock; it must be of type std_msgs::Bool?!!! 
+# - timeout : == 0.0 -> not used
+#              > 0.0 -> the lock is supposed to published at a certain frequency in order
+#                       to detect that the publisher is alive; the timeout in seconds allows
+#                       to detect that, and if the publisher dies we will enable the lock
+# - priority: priority in the range [0, 255], so all the topics with priority lower than it
+#             will be stopped/disabled
+
+locks:
+-
+  name    : pause_navigation
+  topic   : twist_mux/locks/pause_navigation
+  timeout : 0.0
+  priority: 21
+-
+  name    : pause_teleop 
+  topic   : twist_mux/locks/pause_teleop
+  timeout : 0.0
+  priority: 101
+-
+  name    : pause_all 
+  topic   : twist_mux/locks/pause_all
+  timeout : 0.0
+  priority: 255

cob_hardware_config/robots/raw-mini/config/twist_mux_topics.yaml

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+# Input topics handled/muxed.
+# For each topic:
+# - name    : name identifier to select the topic
+# - topic   : input topic of geometry_msgs::Twist type
+# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead
+# - priority: priority in the range [0, 255]; the higher the more priority over other topics
+
+topics:
+-
+  name    : collision_velocity_filter
+  topic   : twist_mux/command_safe
+  timeout : 0.25
+  priority: 10
+-
+  name    : navigation
+  topic   : twist_mux/command_navigation
+  timeout : 0.25
+  priority: 20
+-
+  name    : syncmm # cob_twist_controller
+  topic   : twist_mux/command_syncmm
+  timeout : 0.5
+  priority: 60
+-
+  name    : script_server
+  topic   : twist_mux/command_script_server
+  timeout : 0.5
+  priority: 70
+-
+  name    : teleop_keyboard
+  topic   : twist_mux/command_teleop_keyboard
+  timeout : 0.5
+  priority: 80
+-
+  name    : teleop_android
+  topic   : twist_mux/command_teleop_android
+  timeout : 0.5
+  priority: 90
+-
+  name    : teleop_joystick
+  topic   : twist_mux/command_teleop_joy
+  timeout : 0.25
+  priority: 100

cob_hardware_config/robots/raw-mini/config/velocity_smoother.yaml

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+# Example configuration:
+# - velocity limits are around a 10% above the physical limits
+# - acceleration limits are just low enough to avoid jerking
+
+# Mandatory parameters
+speed_lim_vx: 1.0
+speed_lim_vy: 1.0
+speed_lim_w: 1.0
+
+accel_lim_vx: 0.5
+accel_lim_vy: 0.5
+accel_lim_w: 0.5
+
+# Optional parameters
+frequency: 100.0
+decel_factor: 1.5       #used if zero velocity is received or goal velocity is far away from current velocity
+decel_factor_safe: 3.5  #used if no velocity commands received (eg. no deadman on joystick)
+
+# Robot velocity feedback type:
+#  0 - none
+#  1 - odometry
+#  2 - end robot commands
+robot_feedback: 1